Failed to subscribe ROS 2 topic between pixi and Docker container with Cyclone DDS

[atinfinity]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

I failed to subscribe ROS 2 topic between pixi and Docker container with Cyclone DDS.

Steps to reproduce

Install pixi

curl -fsSL https://pixi.sh/install.sh | bash

Create project

pixi init my_ros2_project -c robostack-humble -c conda-forge
cd my_ros2_project

Install package

pixi add ros-humble-desktop

Launch Docker container

I enabled host networking in Docker Desktop via setting.
And, I launched Docker container.

docker run --rm -it \
           --net=host \
           --ipc=host \
           ros:humble-perception \
           bash

I changed to Cyclone DDS on Docker container.

apt update
apt install ros-humble-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Pub

I published topic on pixi.

pixi run ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

Sub

And I tried to subscribe topic on Docker container.
But, I could not subscribe topic between pixi and Docker container.

ros2 topic echo /turtle1/cmd_vel

Expected behavior

I expected the following result between pixi and Docker container.

ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel

ros2 topic echo /turtle1/cmd_vel
linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.8

Supplementary information

I changed to Fast DDS. As a result, I could subscribe topic.

ros2 topic echo /turtle1/cmd_vel
linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.8

Installed packages

The result of `pixi list` longer than 65536 characters.
So, I upload to <https://gist.github.com/atinfinity/77a5273feef1bfa1e48fe6ddb1d4cc3c>

Environment info

$ pixi info
System
------------
       Pixi version: 0.45.0
           Platform: osx-arm64
   Virtual packages: __unix=0=0
                   : __osx=14.4=0
                   : __archspec=1=m1
          Cache dir: /Users/dandelion/Library/Caches/rattler/cache
       Auth storage: /Users/dandelion/.rattler/credentials.json
   Config locations: No config files found

Global
------------
            Bin dir: /Users/dandelion/.pixi/bin
    Environment dir: /Users/dandelion/.pixi/envs
       Manifest dir: /Users/dandelion/.pixi/manifests/pixi-global.toml

Workspace
------------
               Name: my_ros2_project
            Version: 0.1.0
      Manifest file: /Users/dandelion/my_ros2_project/pixi.toml
       Last updated: 19-04-2025 16:28:31

Environments
------------
        Environment: default
           Features: default
           Channels: robostack-humble, conda-forge
   Dependency count: 1
       Dependencies: ros-humble-desktop
   Target platforms: osx-arm64